Having the same issue on my 2001 3.0. Groans as i turn left. Groan is steady. I looked in the engine compartment as my wife turned the wheel and it seemed the pump was working hard. The steering knuckle seemed noisy. Not sure as I'm no mechanic. We jsut had new CV boots installed less than 5K miles ago. Mechanic said joints looked good.

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2001 Silver X5 3.0-- Wifey's car.